EP3030447B1 - Control of regenerative braking in an electric or hybrid vehicle - Google Patents
Control of regenerative braking in an electric or hybrid vehicle Download PDFInfo
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- EP3030447B1 EP3030447B1 EP14748240.0A EP14748240A EP3030447B1 EP 3030447 B1 EP3030447 B1 EP 3030447B1 EP 14748240 A EP14748240 A EP 14748240A EP 3030447 B1 EP3030447 B1 EP 3030447B1
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- braking
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- regenerative braking
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
- B60L3/0076—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/58—Combined or convertible systems
- B60T13/585—Combined or convertible systems comprising friction brakes and retarders
- B60T13/586—Combined or convertible systems comprising friction brakes and retarders the retarders being of the electric type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
- B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18109—Braking
- B60W30/18127—Regenerative braking
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D61/00—Brakes with means for making the energy absorbed available for use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/40—Control modes
- B60L2260/42—Control modes by adaptive correction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/89—Repartition of braking force, e.g. friction braking versus regenerative braking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/947—Characterized by control of braking, e.g. blending of regeneration, friction braking
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
L'invention concerne le contrôle du freinage régénératif dans un véhicule équipé d'un premier moyen de freinage, régénératif, et d'un deuxième moyen de freinage, distinct du premier moyen de freinage, par exemple un moyen de freinage hydraulique.The invention relates to the control of regenerative braking in a vehicle equipped with a first braking means, regenerative, and a second braking means, distinct from the first braking means, for example a hydraulic braking means.
Le véhicule peut par exemple être un véhicule électrique ou hybride.The vehicle may for example be an electric or hybrid vehicle.
Sur un véhicule équipé d'au moins un moteur de traction ou de propulsion électrique, il est possible, sous certaines conditions, d'utiliser le moteur électrique comme générateur et d'obtenir ainsi un moyen de freinage électrique. Une telle utilisation est avantageuse, car, régénérative, elle permet de récupérer une partie de l'énergie cinétique du véhicule afin de recharger les batteries.On a vehicle equipped with at least one traction motor or electric propulsion, it is possible, under certain conditions, to use the electric motor as a generator and thus to obtain an electric braking means. Such a use is advantageous because, regenerative, it can recover some of the kinetic energy of the vehicle to recharge the batteries.
Dans le cas d'un freinage découplé, le véhicule peut par exemple comporter un module de répartition (« Torque Blending » en anglais) agencé pour répartir une commande de freinage globale, issue de la pédale de frein, entre un actionneur électrique et un actionneur hydraulique. On parle alors de consignes de freinage complémentaires.In the case of a decoupled braking, the vehicle may for example comprise a distribution module ("Torque Blending" in English) arranged to distribute a global braking command, issued from the brake pedal, between an electric actuator and an actuator hydraulic. This is called complementary braking instructions.
Selon un autre exemple, et en particulier dans le cas d'un véhicule à freinage non découplé, un véhicule peut comprendre un module de gestion de freinage (« Torque Manager» en anglais) agencé pour générer une consigne de freinage électrique fonction de la consigne conducteur, par exemple proportionnelle à cette consigne conducteur. La consigne de freinage électrique est alors une consigne de freinage supplémentaire, venant s'ajouter au freinage hydraulique classique, obtenu directement de la pédale de frein.According to another example, and in particular in the case of a non decoupled braking vehicle, a vehicle may comprise a braking management module ("Torque Manager") arranged to generate an electric braking setpoint according to the setpoint driver, for example proportional to this driver instruction. The electric braking setpoint is then an additional braking setpoint, in addition to the conventional hydraulic braking, obtained directly from the brake pedal.
La consigne de freinage régénérative, qu'elle soit complémentaire ou supplémentaire, est élaborée en fonction non seulement de la consigne conducteur, issue d'une pédale de frein, et également en fonction d'autres paramètres, dont un signal indicatif de la stabilité du véhicule.The regenerative braking setpoint, whether complementary or supplementary, is developed according not only to the driver setpoint, resulting from a brake pedal, and also according to other parameters, including a signal indicative of the stability of the brake. vehicle.
En effet, le freinage électrique s'applique uniquement aux roues motrices, c'est-à-dire à la ou les roue(s) avant(s) dans le cas d'un véhicule à traction, ou à la ou les roue(s) arrière(s) dans le cas d'un véhicule en propulsion. Le potentiel de freinage régénératif est donc plus limité qu'un freinage appliqué sur l'ensemble des roues.Indeed, the electric braking applies only to the drive wheels, that is to say to the wheel (s) before (s) in the case of a traction vehicle, or to the wheel or wheels ( s) rear (s) in the case of a propulsion vehicle. The regenerative braking potential is therefore more limited than braking applied on all the wheels.
Ce freinage régénératif risque donc de provoquer des glissements plus importants sur les roues concernées, voire même de provoquer un blocage des roues lorsque les conditions d'adhérence sont relativement précaires, par exemple dans le cas d'une chaussée mouillée ou recouverte de glace ou de neige.This regenerative braking may therefore cause greater slippage on the wheels concerned, or even cause a wheel lock when the adhesion conditions are relatively precarious, for example in the case of a wet pavement or covered with ice or ice. snow.
Il est connu de désactiver le freinage régénératif lorsqu'un système de sécurité actif, par exemple un système d'anti-blocage des roues, par exemple l'ABS (de l'allemand « AntiBlockerSystem ») et/ou un système d'anti-patinage des roues, comme par exemple un système ESC (de l'anglais « Electronic Stability Control »), détecte une situation à risque, par exemple lorsqu'un signal de drapeau élaboré par ce système de sécurité actif passe à 1.It is known to deactivate regenerative braking when an active safety system, for example an anti-lock system for wheels, for example ABS (from the German "AntiBlockerSystem") and / or an anti-lock system. wheel traction, such as for example an ESC (Electronic Stability Control) system, detects a risk situation, for example when a flag signal produced by this active safety system passes to 1.
Ces systèmes de sécurité actifs sont en communication avec un ou plusieurs capteurs aptes à fournir des informations sur l'état des roues.These active safety systems are in communication with one or more sensors able to provide information on the condition of the wheels.
Lorsque le signal de drapeau repasse à zéro, c'est-à-dire lorsque les signaux issus des systèmes de sécurité actif correspondent à une situation suffisamment peu risquée, le freinage régénératif est à nouveau autorisé.When the flag signal returns to zero, that is to say when the signals from the active safety systems correspond to a sufficiently low risk situation, the regenerative braking is again authorized.
Ainsi, la demande
La demande de brevet
Il existe un besoin pour un contrôle de freinage régénératif offrant davantage de sécurité à moindre coût.There is a need for regenerative braking control providing more safety at a lower cost.
Il est proposé un procédé de contrôle de freinage régénératif d'un véhicule selon la revendication 1. Le signal de commande ainsi élaboré peut être transmis vers un module de génération d'une consigne de freinage régénérative, par exemple un module de répartition, un module de gestion de freinage, ou autre.There is provided a regenerative braking control method of a vehicle according to
Ainsi, passé un certain nombre d'activations de la régulation par le système de sécurité actif, on présume en quelques sortes que l'adhérence est précaire et on impose le calcul de la consigne de freinage régénératif selon un deuxième mode de calcul, de façon à limiter le freinage régénératif.Thus, after a certain number of activations of the regulation by the active safety system, it is assumed in a few ways that the adhesion is precarious and the computation of the regenerative braking setpoint is imposed according to a second calculation mode, so that to limit the regenerative braking.
Dans un mode de réalisation avantageux, lorsque la consigne de freinage régénératif est générée selon le deuxième mode de calcul, cette consigne est nulle, c'est-à-dire qu'il n'y a plus de freinage régénératif.In an advantageous embodiment, when the regenerative braking setpoint is generated according to the second calculation mode, this setpoint is zero, that is to say that there is no regenerative braking.
Le système de sécurité actif peut par exemple comprendre un système ABS, un système AYC (de l'anglais « Active Yaw Control »), un système MSR (de l'allemand « Motor Schlepp Regelung ») un système ASR (de l'anglais « Acceleration Slip Regulation »), un système EBD (de l'anglais « Electronic Brakeforce Distribution »), un système ESC (de l'anglais « Electronic Stability Control »), et/ou autre.The active safety system may for example comprise an ABS system, an AYC (Active Yaw Control) system, an MSR (German Motor Schlepp Regelung) system, an ASR system. "Acceleration Slip Regulation"), an EBD (Electronic Brakeforce Distribution) system, an ESC (Electronic Stability Control) system, and / or other.
En particulier, le signal de drapeau reçu peut être issu de plusieurs systèmes de sécurité actifs. On pourra par exemple prévoir d'appliquer un OU logique aux différents signaux de drapeaux issus de différents systèmes de sécurité actifs respectifs.In particular, the received flag signal may be issued from several active security systems. For example, it may be possible to apply a logical OR to the different flag signals from different respective active security systems.
Avantageusement et de façon non limitative, on pourra prévoir un filtrage temporel du signal de drapeau. Ainsi, une condition d'incrémentation du compteur est que le signal de drapeau ayant changé de valeur reste à la valeur correspondant à une activation de la régulation par le système de sécurité actif pendant un laps de temps donné. Le filtrage peut ainsi être réalisé par l'intermédiaire d'un filtre à retard de changement d'état. Ceci peut permettre d'éviter d'incrémenter le compteur lorsque le système de sécurité actif impose une régulation pendant un laps de temps relativement court. Ceci peut permettre de n'incrémenter le compteur que pour des activations ayant des origines différentes, ou autrement dit, d'éviter d'incrémenter le compteur pour des activations ayant une même origine.Advantageously and in a nonlimiting manner, it will be possible to provide a temporal filtering of the flag signal. Thus, a condition for incrementing the counter is that the flag signal having changed value remains at the value corresponding to an activation of the regulation by the active security system during a given period of time. The filtering can thus be carried out via a state change delay filter. This may make it possible to avoid incrementing the counter when the active safety system imposes a regulation for a relatively short period of time. This can make it possible to increment the counter only for activations having different origins, or in other words, to avoid incrementing the counter for activations having the same origin.
Avantageusement et de façon non limitative, on peut recevoir un signal de pression maître-cylindre et comparer ce signal à un seuil de pression et interdire l'incrémentation du compteur lorsque la pression de maître cylindre est supérieure à ce seuil de pression. Dit autrement, on ne prend en compte des changements d'état du signal de drapeau vers un état correspondant à une activation de la régulation du système de sécurité actif que lorsque le freinage imposé par le conducteur est relativement faible. En effet, le signal de drapeau est susceptible d'indiquer une régulation, par exemple une régulation ESC lorsque le freinage du conducteur est relativement fort, par exemple dans le cas d'une conduite relativement sportive. La prise en compte de la pression maître cylindre permet ainsi de ne considérer que les petits freinages. On estime en quelques sortes que si le système de sécurité actif a effectué une régulation sur un freinage relativement faible, alors l'adhérence est vraisemblablement précaire et la perte d'adhérence est probablement d'origine involontaire.Advantageously and in a nonlimiting manner, a master cylinder pressure signal can be received and this signal can be compared to a pressure threshold and the incrementation of the counter can be prohibited when the master cylinder pressure is greater than this pressure threshold. In other words, changes in the state of the flag signal to a state corresponding to activation of the regulation of the active safety system are only taken into account when the braking imposed by the driver is relatively low. Indeed, the flag signal is likely to indicate a regulation, for example an ESC control when the braking of the driver is relatively strong, for example in the case of a relatively sporty driving. Taking into account the master cylinder pressure allows to consider only small braking. It is believed in some ways that if the active safety system has been regulating on a relatively low braking, then the adhesion is likely precarious and the loss of adhesion is probably unintentional.
Bien entendu, l'invention n'est en rien limitée à une prise en compte de la pression maître-cylindre. En particulier on pourra utiliser d'autres paramètres estimés ou mesurés permettant d'interpréter la volonté du conducteur, notamment une valeur de décélération du véhicule.Of course, the invention is in no way limited to taking into account the master cylinder pressure. In particular we can use other estimated or measured parameters to interpret the driver's desire, including a deceleration value of the vehicle.
L'invention n'est pas limitée par la façon dont le compteur est remis à 0. On pourra par exemple prévoir une remise à 0 en fin de mission ou en début de mission. Selon un autre exemple, on pourra prévoir la possibilité de décrémentation du compteur, par exemple lorsque la pression de freinage est supérieure à un seuil et que le signal de drapeau reste dans un état correspondant à une non activation de la régulation par le système de sécurité actif, et ce tout en interdisant au compteur de passer en-deçà de 0. Ainsi si les conditions d'adhérence sont suffisamment bonnes pour que le système de sécurité actif n'impose pas de régulation, alors que le freinage est relativement fort, la consigne de freinage régénératif peut être amenée à être à nouveau élaborée suivant le premier mode de calcul.The invention is not limited by the way the counter is reset to 0. It may for example provide a reset to 0 at the end of the mission or at the beginning of the mission. According to another example, the possibility of decrementing the counter may be provided, for example when the braking pressure is greater than a threshold and the flag signal remains in a state corresponding to a non-activation of the regulation by the security system. active, and this while prohibiting the meter to pass below 0. Thus if the adhesion conditions are good enough for the active safety system does not impose regulation, while the braking is relatively strong, the regenerative braking setpoint can be made to be again developed according to the first mode of calculation.
L'invention peut trouver une application particulièrement avantageuse dans le cas de véhicules à propulsion, car lorsque le freinage régénératif s'applique aux roues arrière, la stabilité du véhicule peut être relativement critique. Un angle volant relativement léger risque d'entraîner un tête à queue.The invention can find a particularly advantageous application in the case of vehicles with propulsion, because when the regenerative braking applies to the rear wheels, the stability of the vehicle can be relatively critical. A relatively light flying angle may result in a spin.
Bien entendu, l'invention n'est pas limitée à cette application, et on pourra bien entendu prévoir d'utiliser l'invention dans le cas d'un véhicule à traction.Of course, the invention is not limited to this application, and it may of course be provided to use the invention in the case of a traction vehicle.
Le deuxième moyen de freinage peut être découplé de la pédale ou non.The second braking means can be decoupled from the pedal or not.
La consigne de freinage régénérative peut par exemple être complémentaire d'une consigne de freinage non-régénérative appliquée par le deuxième moyen de freinage, supplémentaire par rapport au freinage appliqué par ce deuxième moyen de freinage, ou autre.The regenerative braking setpoint may for example be complementary to a non-regenerative braking setpoint applied by the second braking means, additional to the braking applied by the second braking means, or the like.
Il est en outre proposé un produit programme d'ordinateur comprenant des instructions pour effectuer les étapes de procédé décrits ci-dessus lorsque ces instructions sont exécutées par un processeur. Ce programme peut par exemple être stocké sur un support mémoire, par exemple, un disque dur, ou bien encore être téléchargé ou autre.There is further provided a computer program product comprising instructions for performing the above-described method steps when these instructions are executed by a processor. This program can for example be stored on a memory medium, for example, a hard disk, or still be downloaded or otherwise.
Il est en outre proposé un dispositif de contrôle de freinage régénératif d'un véhicule selon la revendication 5. Ce dispositif peut ainsi permettre d'exécuter le procédé décrit ci-dessus. Ce dispositif peut par exemple comprendre ou être intégré dans plusieurs processeurs de traitement du signal, par exemple un microcontrôleur, un microprocesseur ou autre.It is further proposed a regenerative braking control device of a vehicle according to claim 5. This device can thus allow to perform the method described above. This device can for example include or be integrated into several signal processing processors, for example a microcontroller, a microprocessor or other.
Les moyens de réception peuvent par exemple comprendre, un port d'entrée, une broche d'entrée ou autre. Les moyens de traitement peuvent par exemple un coeur de processeur ou CPU (de l'anglais « Central Processing Unit ») ou autre. Le dispositif peut comprendre des moyens de transmission du signal de commande vers un module de génération de consigne de freinage régénératif, par exemple un port de sortie, une broche de sortie, ou autre.The receiving means may for example comprise an input port, an input pin or the like. The processing means may for example a processor core or CPU (Central Processing Unit) or other. The device may comprise means for transmitting the control signal to a regenerative braking setpoint generation module, for example an output port, an output pin, or the like.
Il est en outre proposé un système de contrôle de freinage régénératif comprenant un module de génération d'une consigne de freinage régénérative apte à générer une consigne de freinage régénérative en fonction d'un signal de requête de freinage issu d'une pédale conducteur du véhicule selon un premier mode de calcul et selon un deuxième mode de calcul, et un dispositif de contrôle tel que décrit ci-dessus.It is further proposed a regenerative braking control system comprising a regenerative braking setpoint generating module capable of generating a regenerative braking setpoint as a function of a braking request signal from a driver pedal of the vehicle according to a first calculation mode and according to a second calculation mode, and a control device as described above.
Le module de génération peut comprendre un module de gestion de freinage agencé pour calculer la valeur de consigne de freinage régénératif en multipliant une valeur de freinage représentative du freinage effectué par le deuxième moyen de freinage par un coefficient fonction du mode de calcul imposé.The generation module may comprise a braking management module arranged to calculate the regenerative braking setpoint value by multiplying a braking value representative of the braking performed by the second braking means by a coefficient that is a function of the imposed calculation mode.
Il est en outre proposé un véhicule, par exemple un véhicule automobile, comprenant le dispositif de contrôle décrit ci-dessus.There is further provided a vehicle, for example a motor vehicle, comprising the control device described above.
Le véhicule peut comprendre en outre un moyen de freinage régénératif, par exemple un actionneur électrique, et un moyen de freinage non régénératif, par exemple un actionneur hydraulique.The vehicle may further comprise a regenerative braking means, for example an electric actuator, and a non-regenerative braking means, for example a hydraulic actuator.
L'invention peut trouver une application sur tous les véhicules qui possèdent un actionneur de couple permettant de récupérer de l'énergie, c'est-à-dire notamment les véhicules électriques ou hybrides, et également les véhicules thermiques équipés avec un alternateur, par exemple un alterno-démarreur permettant un couple de freinage important.The invention can find an application on all vehicles which have a torque actuator for recovering energy, that is to say in particular electric or hybrid vehicles, and also the thermal vehicles equipped with an alternator, for example. example an alternator-starter allowing a significant braking torque.
L'invention sera mieux comprise en référence aux figures, lesquelles illustrent des modes de réalisation non limitatifs.
- La
figure 1 montre un exemple de véhicule selon un mode de réalisation de l'invention. - La
figure 2 montre un exemple de dispositif de contrôle du freinage régénératif, selon un mode de réalisation de l'invention.
- The
figure 1 shows an example of a vehicle according to one embodiment of the invention. - The
figure 2 shows an example of regenerative braking control device, according to one embodiment of the invention.
Des références identiques peuvent être utilisées d'une figure à l'autre pour désigner des éléments identiques ou similaires dans leur forme ou dans leur fonction.Identical references can be used from one figure to another to designate elements that are identical or similar in their form or in their function.
En référence à la
Un module de génération 12 d'une consigne de freinage régénérative, par exemple d'une consigne de freinage électrique Cel permet de générer cette valeur de consigne Cel selon un premier mode de calcul, en fonction d'une valeur de consigne conducteur Cc issue d'un module de calcul de requête conducteur 11 ou DRC (de l'anglais « Driver Request Calculation »).A generation module 12 of a regenerative braking setpoint, for example an electric braking setpoint C el, makes it possible to generate this setpoint value C el according to a first calculation mode, as a function of a command value value C c from a driver
Ce module de calcul 11 reçoit en entrée une valeur d'information quant au statut des freins ou BLS (de l'anglais « Brake infos status » ) et une valeur de pression maître-cylindre, non représentées sur la
Le module 12 est agencé pour appliquer un coefficient multiplicateur, par exemple égal à 0,1, à cette valeur de consigne Cc, et obtenir ainsi la valeur de consigne de freinage électrique Cel.The module 12 is arranged to apply a multiplying coefficient, for example equal to 0.1, to this setpoint value C c , and thus obtain the electric braking set value C el .
Dit autrement, lorsque cette valeur de consigne électrique Cel est obtenue selon le premier mode de calcul, cette valeur de consigne est choisie égale à 10% du signal de requête de freinage Cc issue de la pédale conducteur. Il s'agit donc d'un freinage électrique supplémentaire venant s'additionner au freinage hydraulique réalisé directement à partir de la pédale de frein, sans découplage.In other words, when this electrical set point value C el is obtained according to the first calculation mode, this setpoint value is chosen equal to 10% of the braking request signal C c resulting from the driver pedal. It is therefore an additional electric braking to add to the hydraulic braking performed directly from the brake pedal, without decoupling.
Un dispositif de contrôle de freinage 10 reçoit des signaux de drapeaux issus de différents systèmes de sécurité actifs non représentés, par exemple un système ABS, d'un système AYC et/ou autre. Lorsque l'un de ces signaux de drapeaux est égal à 1, le dispositif 10 génère un signal de drapeau global F qui prend alors la valeur 1, et, tant que ce signal F est égal à 1, c'est-à-dire que tant que l'un des systèmes de sécurité actifs a activé une régulation, la consigne de freinage électrique Cel est nulle.A
En outre, le dispositif 10 est agencé pour incrémenter un compteur à chaque passage à 1 d'un signal de drapeau obtenu à partir des différents signaux de drapeaux des différents systèmes de sécurité actifs. Lorsque ce compteur atteint un seuil alors un signal F issu du dispositif 10 prend une valeur correspondant à une interdiction définitive du freinage régénératif.In addition, the
La
Dans ce mode de réalisation, le dispositif 10 comprend une porte OU 100 recevant en entrée différents signaux de drapeaux issus de différents systèmes de sécurité actifs respectifs, par exemple un drapeau flag_ABS issu d'un système ABS, un drapeau flag_AYC issu d'un système AYC, un drapeau flag_MSR issu d'un système MSR, un drapeau flag_ASR issu d'un système ASR, un drapeau flag_EBD issu d'un système EBD.In this embodiment, the
Le signal flag_reg issu de cette porte OU 100 est reçu en entrée d'une porte ET 101. Cette porte ET reçoit par ailleurs un signal prenant une valeur 1 lorsqu'une valeur de pression maître-cylindre P est inférieure à un seuil de pression maitre-cylindre THR_P. Ainsi, le signal obtenu à partir de la porte ET 101 est égale à 1 seulement si la pression de maître-cylindre est inférieure à un seuil, et si le signal flag_reg est égal à 1.The signal flag_reg coming from this OR
Ce signal est reçu dans un module de filtrage 102 dans lequel on réalise un filtrage des états hauts, lorsque leur durée est trop courte. Dit autrement, si le signal issu de la porte ET 101 a une valeur égale à 1 pendant une durée inférieure à un laps de temps donné, alors, le signal f_r issu du module de filtrage 102 reste nul.This signal is received in a
Le signal f_r issu de ce module 102 est reçu par un module de comptage 103 agencé pour être incrémenté à chaque front montant du signal entrant.The signal f_r from this
Dans un mode de réalisation préféré, seuls les fronts montants du signal f_r conduisent à une incrémentation du signal Count.In a preferred embodiment, only the rising edges of the signal f_r lead to an incrementation of the signal Count.
Dans un mode de réalisation alternatif, le signal Count est incrémenté à chaque font montant du signal f_r et chaque fois que le signal f_r a une valeur haute pendant un laps de temps prédéterminé. Ainsi on prend en quelque sorte en compte la durée des périodes de signal haut du signal f_r. De la valeur de ce laps de temps prédéterminé et des incréments respectifs dépendent le poids relatif de la durée des périodes de signal haut et des fronts montants. Par exemple, on peut choisir un laps de temps d'une minute, et des incréments de 1 dans els deux cas : un signal haut durant 20 secondes conduira à une incrémentation de 1, tandis qu'un signal haut de 70 secondes conduira à une incrémentation de 1+1 = 2 du compteur. Le laps de temps prédéterminé peut bien entendu avoir une durée moindre, par exemple une seconde.In an alternative embodiment, the Count signal is incremented at each signal amount f_r and whenever the f_r signal has a high value for a predetermined period of time. Thus, the duration of the high signal periods of the signal f_r is taken into account. The value of this predetermined period of time and the respective increments depend on the relative weight of the duration of the high signal periods and the rising edges. For example, a time interval of one minute can be selected, and increments of 1 in both cases: a high signal for 20 seconds will lead to an incrementation of 1, while a high signal of 70 seconds will lead to a incrementing 1 + 1 = 2 of the counter. The predetermined period of time may of course have a shorter duration, for example a second.
Pour revenir à la
Dit autrement, lorsque le signal S passe de la valeur S1 à la valeur S2, le module référencé 12 sur la
Dans ce mode de réalisation, le compteur n'est remis à 0 qu'après extinction du dispositif, c'est-à-dire en fin de mission.In this embodiment, the counter is reset to 0 after the device has been extinguished, that is to say at the end of the mission.
Par ailleurs, le signal F, indicateur de la stabilité, de la
Dans ce mode de réalisation, le véhicule 1 est un véhicule à traction, le freinage électrique s'appliquant uniquement aux roues motrices arrière 14, donc avec un potentiel de freinage plus limité qu'un freinage sur l'ensemble des roues. Il existe un risque de glissement plus important sur les roues arrière, ce qui risque de provoquer un blocage des roues lorsque les conditions d'adhérence sont relativement précaires.In this embodiment, the
Le procédé décrit ci-dessus basé sur un comptage des activations durables et vraisemblablement liées à l'état de la chaussée, des systèmes de régulation actif, peut ainsi permettre de diagnostiquer un état de la chaussée correspondant à des conditions d'adhérence précaires, et d'interdire tout freinage électrique lorsque ce diagnostic est effectué.The method described above based on a count of durable activations and probably related to the state of the road, active control systems, can thus make it possible to diagnose a state of the roadway corresponding to precarious adhesion conditions, and to prohibit any electric braking when this diagnosis is made.
De telles conditions d'adhérence précaire peuvent par exemple être liées à la présence de glace, de neige, ou bien simplement au fait que la chaussée est mouillée.Such conditions of precarious adhesion may for example be related to the presence of ice, snow, or simply because the roadway is wet.
Le compteur de régulation mis en place peut ainsi venir compléter l'indicateur de stabilité, connu de l'art antérieur.The control meter set up can thus complete the stability indicator, known from the prior art.
L'invention n'est pas limitée à une prohibition du freinage électrique lorsque le compteur atteint un seuil. On pourrait par exemple prévoir d'autoriser le freinage électrique, mais avec une puissance moindre que lorsque la consigne Cel est générée selon le premier mode de calcul. Par exemple, les procédés mis en oeuvre dans le module référencé 12 sur la
Claims (9)
- Method for controlling regenerative braking of a vehicle equipped with a first, regenerative, braking means and with a second braking means separate from the first braking means, which method is designed to generate a regenerative braking setpoint as a function of a braking request signal coming from a driver pedal of the vehicle, according to a first setpoint generation mode, the method comprising:reception of a master cylinder pressure signal (P), and comparison with pressure thresholds,reception of a flag signal (flag_reg) coming from an active safety system of the vehicle,detection of the value changes of the received flag signal,when the received flag signal changes value to take a value corresponding to activation of regulation by the active safety system, incrementation of a counter value (Count) if the master cylinder pressure is lower than a first pressure threshold (THR_P),when the master cylinder pressure exceeds a second pressure threshold, decrementation of the counter value (Count) if the flag signal remains at a value corresponding to a non-activation of a regulation by the active safety system,comparison of the counter with a threshold (THR), and if the counter reaches said threshold, formation of a control signal (S) so as to end the generation of the regenerative braking setpoint according to the first calculation mode and to impose generation of this regenerative braking setpoint according to a second calculation mode.
- Control method according to Claim 1, wherein when the regenerative braking setpoint is generated according to the second calculation mode, this setpoint is zero.
- Control method according to either of Claims 1 and 2, comprising a step consisting in applying a time filtering (102) to the received flag signal prior to the step of detecting a value change.
- Computer program product comprising instructions for carrying out the method steps according to any one of Claims 1 to 3 when these instructions are executed by a processor.
- Device (10) for controlling regenerative braking of a vehicle equipped with a first, regenerative, braking means and with a second braking means separate from the first braking means, which device is designed to generate a regenerative braking setpoint as a function of a braking request signal coming from a driver pedal of the vehicle, according to a first setpoint generation mode, the device comprising:reception means for receiving a master cylinder pressure signal (P) and comparison means for comparing the value of the signal to pressure thresholds, and reception means for receiving a flag signal (flag_reg) coming from an active safety system of the vehicle, and processing means arranged so as to detect the value changes of the received flag signal,- to increment a counter value (Count) when the received flag signal changes value to take a value corresponding to activation of regulation by the active safety system, if the master cylinder pressure is lower than a first pressure threshold (THR_P),- to decrement the counter value (Count) when the master cylinder pressure exceeds a second pressure threshold, if the flag signal remains at a value corresponding to a non-activation of a regulation by the active safety system,- to compare the counter with a threshold (THR) and, if the counter reaches said threshold, to form a control signal (S) so as to end the generation of the regenerative braking setpoint according to the first calculation mode and to impose generation of this regenerative braking setpoint according to a second calculation mode.
- System for controlling regenerative braking of a vehicle equipped with a first, regenerative, braking means (13) and with a second braking means separate from the first braking means, comprising
a module for generating a regenerative braking setpoint (12), capable of generating the regenerative braking setpoint as a function of a braking request signal coming from a driver pedal of the vehicle, according to a first calculation mode and according to a second calculation mode, and
a control device (10) according to Claim 5. - System according to Claim 6, wherein the generation module comprises a braking management module (12) arranged in order to calculate the regenerative braking setpoint value by multiplying a braking value representative of the braking carried out by the second braking means (Cc) by a coefficient which depends on the calculation mode imposed.
- Motor vehicle (1) comprising the control system according to Claim 7.
- Motor vehicle (1) according to Claim 8, comprising an electrical actuator (13) capable of exerting braking on the rear wheels (14).
Applications Claiming Priority (2)
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FR1357801A FR3009523B1 (en) | 2013-08-06 | 2013-08-06 | CONTROL OF REGENERATIVE BRAKING IN AN ELECTRIC OR HYBRID VEHICLE |
PCT/FR2014/051731 WO2015018993A2 (en) | 2013-08-06 | 2014-07-04 | Control of regenerative braking in an electric or hybrid vehicle |
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2014
- 2014-07-04 WO PCT/FR2014/051731 patent/WO2015018993A2/en active Application Filing
- 2014-07-04 JP JP2016532712A patent/JP6483684B2/en active Active
- 2014-07-04 EP EP14748240.0A patent/EP3030447B1/en active Active
- 2014-07-04 CN CN201480051504.4A patent/CN105555580B/en active Active
- 2014-07-04 US US14/909,239 patent/US9802491B2/en active Active
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Also Published As
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FR3009523B1 (en) | 2015-08-07 |
US20160221449A1 (en) | 2016-08-04 |
KR20160042012A (en) | 2016-04-18 |
FR3009523A1 (en) | 2015-02-13 |
CN105555580B (en) | 2019-04-12 |
EP3030447A2 (en) | 2016-06-15 |
WO2015018993A3 (en) | 2015-04-16 |
WO2015018993A2 (en) | 2015-02-12 |
JP6483684B2 (en) | 2019-03-13 |
US9802491B2 (en) | 2017-10-31 |
KR102107003B1 (en) | 2020-05-06 |
JP2016527866A (en) | 2016-09-08 |
CN105555580A (en) | 2016-05-04 |
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